version: 66.03
glider: 143
mission: 4
dive: 59
start: 4 15 108 19 36 52
data:
$ID,143
$MISSION,4
$DIVE,59
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,350
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,360
$T_ABORT,720
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51457
$NAV_MODE,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,270
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5111.5312
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1469
$PITCH_MAX,4022
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,182
$ROLL_MAX,3816
$ROLL_DEG,40
$C_ROLL_DIVE,2295
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,490
$VBD_MAX,3964
$C_VBD,3071
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PRESSURE_YINT,-13.47135
$PRESSURE_SLOPE,9.1530041e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043273759
$SEABIRD_T_H,0.00064184016
$SEABIRD_T_I,2.4188148e-05
$SEABIRD_T_J,2.4070987e-06
$SEABIRD_C_G,-10.197048
$SEABIRD_C_H,1.1695373
$SEABIRD_C_I,-0.0015330453
$SEABIRD_C_J,0.00015523176
$GPS1,191158,5938.270,-2144.967,28,3.2,47,-15.2
$_CALLS,5
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-40.9
$GPS2,193635,5938.566,-2145.172,11,99.0,30,-15.2
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5938.566,-2150.630
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,285.2,20000,-15.7,-10.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.82,-194.7,0.0,0.0,0,122,0.00,0.00,-94.50,0.000,2,0.000,0.000,1469,2319,3554
$GC,124,-0.82,-194.7,3.2,-7.7,13,149,10.23,2.92,-6.80,0.000,4,0.262,0.067,2609,881,3867
$GC,389,-0.72,-194.7,49.9,-15.5,62,398,0.15,2.78,0.00,0.000,6,0.148,0.048,2634,2275,3867
$GC,530,-0.61,-194.7,70.8,-17.0,87,536,0.17,0.00,0.00,0.000,6,0.150,0.000,2661,2275,3867
$GC,732,-0.61,-194.7,98.3,-12.4,124,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2275,3867
$GC,935,-0.61,-194.7,124.4,-11.5,161,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2275,3867
$GC,1134,-0.61,-194.7,147.0,-11.1,198,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2275,3867
$GC,1340,-0.61,-194.7,171.6,-12.7,235,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2275,3867
$GC,1669,-0.61,-194.7,213.1,-11.4,296,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2275,3867
$GC,2001,-0.61,-194.7,251.3,-11.6,357,2007,0.00,2.83,0.00,0.000,4,0.000,0.055,2661,3714,3867
$GC,2036,-0.61,-194.7,255.4,-11.3,363,2043,0.00,2.78,0.00,0.000,6,0.000,0.040,2661,2265,3867
$GC,2366,-0.61,-194.7,295.3,-13.0,424,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2261,3867
$GC,2698,-0.61,-194.7,336.6,-12.7,485,2703,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2261,3867
$GC,3034,-0.61,-194.7,377.2,-12.0,546,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2261,3867
$GC,3377,-0.61,-194.7,416.0,-11.1,607,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2261,3867
$GC,3716,-0.61,-194.7,455.2,-12.2,668,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2261,3867
$GC,4055,-0.61,-194.7,494.5,-11.4,729,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2261,3867
$GC,4397,-0.61,-194.7,533.6,-12.0,790,4403,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2261,3867
$GC,4739,-0.61,-194.7,574.5,-12.2,851,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2261,3867
$GC,5073,-0.61,-194.7,614.3,-11.9,901,5074,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2261,3867
$GC,5393,-0.61,-194.7,651.3,-11.5,931,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2260,3867
$GC,5710,-0.61,-194.7,689.9,-12.2,961,5715,0.00,2.92,0.00,0.000,4,0.000,0.065,2661,3712,3867
$GC,5742,-0.61,-194.7,694.0,-12.3,963,5749,0.00,2.80,0.00,0.000,6,0.000,0.051,2661,2286,3867
$GC,6068,-0.61,-194.7,732.7,-12.0,994,6072,0.00,2.83,0.00,0.000,4,0.000,0.071,2661,878,3867
$GC,6111,-0.67,-194.7,738.0,-11.8,997,6118,0.00,2.70,0.00,0.000,6,0.000,0.048,2661,2276,3866
$GC,6436,-0.67,-194.7,777.3,-12.1,1028,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2278,3866
$GC,6754,-0.67,-194.7,814.2,-11.2,1058,6755,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2279,3866
$GC,7072,-0.67,-194.7,848.8,-10.8,1088,7074,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2280,3866
$GC,7392,-0.67,-194.7,881.4,-10.0,1118,7393,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2281,3866
$GC,7709,-0.67,-194.7,913.8,-10.3,1148,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2281,3865
$GC,8028,-0.67,-194.7,947.4,-10.9,1178,8029,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2281,3865
$GC,8347,-0.67,-194.7,980.7,-10.2,1208,8351,0.00,2.83,0.00,0.000,4,0.000,0.069,2661,880,3865
$GC,8385,-0.75,-194.7,984.6,-10.4,1211,8390,0.12,2.70,0.00,0.000,6,0.061,0.050,2633,2271,3864
$STATE,8431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8431,begin apogee
$GC,8436,-0.19,0.0,990.1,12.0,1215,8636,0.73,0.00,195.88,1.483,6,0.132,0.000,2753,2033,3071
$STATE,8636,end apogee,CONTROL_FINISHED_OK
$STATE,8636,begin climb
$GC,8638,0.82,194.7,998.2,0.0,1235,8851,1.25,3.15,199.12,1.373,4,0.091,0.071,2970,650,2277
$GC,8946,0.69,194.7,971.0,12.7,1264,8953,0.00,2.92,0.00,0.000,6,0.000,0.044,2971,2058,2274
$GC,9272,0.54,194.7,927.8,13.2,1295,9277,0.30,2.90,0.00,0.000,4,0.134,0.059,2922,3464,2272
$GC,9322,0.54,194.7,922.2,10.1,1299,9327,0.00,2.83,0.00,0.000,6,0.000,0.051,2923,2079,2272
$GC,9647,0.58,233.0,893.7,8.7,1329,9692,0.00,3.10,38.28,1.411,4,0.000,0.073,2921,646,2121
$GC,9793,0.61,251.4,879.8,9.4,1342,9820,0.00,2.90,19.73,1.309,6,0.000,0.045,2922,2093,2046
$GC,10138,0.64,282.5,848.6,8.9,1375,10179,0.00,3.17,32.38,1.367,4,0.000,0.072,2921,641,1918
$GC,10251,0.65,289.2,837.8,9.8,1385,10268,0.00,2.92,8.57,1.170,6,0.000,0.044,2922,2104,1890
$GC,10586,0.66,295.9,805.3,9.8,1417,10600,0.00,3.12,7.88,1.188,4,0.000,0.072,2921,640,1864
$GC,10685,0.66,295.9,795.1,10.6,1426,10689,0.00,2.92,0.00,0.000,6,0.000,0.044,2922,2124,1863
$GC,11010,0.69,320.8,764.1,9.1,1456,11042,0.15,3.15,25.80,1.299,4,0.067,0.072,2951,641,1762
$GC,11133,0.69,320.8,749.2,12.1,1467,11137,0.00,2.95,0.00,0.000,6,0.000,0.044,2951,2126,1760
$GC,11457,0.63,320.8,706.7,13.6,1497,11458,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2126,1759
$GC,11776,0.57,320.8,665.8,12.6,1527,11778,0.17,0.00,0.00,0.000,6,0.123,0.000,2924,2126,1759
$GC,12094,0.59,338.4,635.5,9.4,1557,12119,0.00,3.10,19.05,1.317,4,0.000,0.069,2924,631,1690
$GC,12131,0.58,365.5,632.0,9.1,1560,12165,0.00,2.90,27.77,1.141,6,0.000,0.041,2924,2115,1579
$GC,12487,0.67,392.0,599.5,9.1,1594,12522,0.12,0.00,27.75,1.234,6,0.066,0.000,2950,2115,1471
$GC,12857,0.67,392.0,552.1,13.2,1660,12864,0.00,3.03,0.00,0.000,4,0.000,0.064,2950,640,1466
$GC,12886,0.67,392.0,548.1,14.0,1665,12893,0.00,2.90,0.00,0.000,6,0.000,0.040,2951,2116,1465
$GC,13228,0.67,392.0,504.9,12.4,1726,13233,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2116,1465
$GC,13567,0.67,392.0,462.1,11.6,1787,13573,0.00,2.97,0.00,0.000,4,0.000,0.062,2949,640,1465
$GC,13591,0.67,392.0,459.3,12.6,1791,13598,0.00,2.80,0.00,0.000,6,0.000,0.038,2951,2110,1464
$GC,13933,0.67,392.0,417.5,13.0,1852,13939,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2110,1464
$GC,14272,0.67,392.0,375.7,12.5,1913,14277,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2109,1464
$GC,14606,0.67,392.0,332.7,13.5,1974,14614,0.00,2.97,0.00,0.000,4,0.000,0.061,2949,638,1464
$GC,14627,0.67,392.0,330.2,13.3,1977,14633,0.00,2.78,0.00,0.000,6,0.000,0.038,2951,2107,1464
$GC,14958,0.67,392.0,289.1,11.7,2038,14965,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2107,1464
$GC,15291,0.67,392.0,248.4,12.2,2099,15297,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2107,1464
$GC,15619,0.67,392.0,209.1,10.7,2160,15626,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2107,1464
$GC,15953,0.67,392.0,171.9,11.7,2221,15959,0.00,2.92,0.00,0.000,4,0.000,0.061,2949,640,1464
$GC,15982,0.67,392.0,168.3,12.3,2226,15989,0.00,2.78,0.00,0.000,6,0.000,0.038,2953,2095,1464
$GC,16315,0.67,392.0,125.9,12.4,2287,16321,0.00,2.65,0.00,0.000,4,0.000,0.049,2949,3463,1464
$GC,16343,0.67,392.0,122.0,13.0,2292,16351,0.00,2.70,0.00,0.000,6,0.000,0.044,2950,2080,1464
$GC,16548,0.71,422.6,100.6,8.9,2329,16586,0.00,0.00,29.38,0.961,6,0.000,0.000,2949,2080,1347
$GC,16783,0.71,422.6,74.7,11.5,2371,16789,0.00,2.90,0.00,0.000,4,0.000,0.064,2949,634,1344
$GC,16811,0.85,491.0,72.3,7.6,2376,16886,0.15,2.83,67.10,0.839,6,0.038,0.038,2992,2094,1068
$GC,17078,0.73,491.0,21.4,15.1,2424,17086,0.15,0.00,0.00,0.000,6,0.139,0.000,2968,2094,1062
$GC,17214,1.04,668.6,4.8,3.9,2449,17252,0.25,0.00,35.78,0.829,2,0.044,0.000,3029,2095,923
$STATE,17253,end climb,SURFACE_DEPTH_REACHED
$STATE,17253,begin surface coast
$FINISH,-0.1,1.024440
$STATE,17270,end surface coast,CONTROL_FINISHED_OK
$STATE,17271,begin surface
$SM_CCo,17346,0.00,0.000,0,0,919,527.89
$SM_GC,0.35,7.93,0.00,0.00,0.051,0.000,0.000,1474,2315,919,-6.08,0.57,527.89
$IRIDIUM_FIX,5915.45,-2146.51,100797,191904
$TT8_MAMPS,0.021476
$HUMID,1633
$INTERNAL_PRESSURE,8.13508
$TCM_TEMP,12.60
$XPDR_PINGS,336
$24V_AH,19.7,27.928
$10V_AH,9.7,18.698
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,21.875,105.225,734.450,0.000,0.000,151.976,184.091,740.201,84.000,0.000,0.000,32.457,3702.358,7566.491,774.173,5362.767,1391.099,0.000,2723.261,0.000,5371.407,0.000,0.468
$DEVICE_MAMPS,262.314,72.865,1483.378,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1776.128,1805.094,1085.689,976.152,2538.502,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,186681,2457
$CAP_FILE_SIZE,201774,0
$CFSIZE,260165632,251068416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,160408,002728,5940.281,-2152.672,36,99.0,55,-15.3